Control knob with multiple degrees of freedom and force feedback
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G09G-005/00
G06F-003/033
출원번호
US-0326405
(2008-12-02)
등록번호
US-8188989
(2012-05-29)
발명자
/ 주소
Levin, Michael D
Martin, Kenneth M
Schena, Bruce M
Braun, Adam C
Rosenberg, Louis B
출원인 / 주소
Immersion Corporation
대리인 / 주소
Kilpatrick Townsend & Stockton LLP
인용정보
피인용 횟수 :
72인용 특허 :
223
초록▼
The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to
The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
대표청구항▼
1. A method for providing detent forces for a force feedback control, the method comprising: outputting a first force for a first detent on a user manipulatable object moveable in a degree of freedom, the first force output when the user manipulatable object is moved within a range of the first dete
1. A method for providing detent forces for a force feedback control, the method comprising: outputting a first force for a first detent on a user manipulatable object moveable in a degree of freedom, the first force output when the user manipulatable object is moved within a range of the first detent, the first force output by a electronically-controlled actuator, wherein the first force is configured to assist movement of the user manipulatable object toward an origin position of the first detent and wherein the first force is configured to resist movement of the user manipulatable object away from the origin position of the first detent; andoutputting a second force for a second detent on the user manipulatable object when the user manipulatable object is moved within a range of the second detent, the second force output by the actuator and the second detent having an origin position different from the origin position of the first detent, wherein the second force is configured to assist movement of the user manipulatable object toward an origin position of the second detent and wherein the second force is configured to resist movement of the user manipulatable object away from the origin position of the second detent, wherein a portion of the range of the first detent overlaps a portion of the range of the second detent. 2. The method of claim 1 wherein the first force for the first detent has a magnitude that increases the further that the user manipulatable object is positioned from the origin of the first detent, and wherein the second force for the second detent has a magnitude that increases the further that the user manipulatable object is positioned from the origin of the second detent. 3. The method of claim 1 wherein a deadband is provided around the origin of the first detent and around the origin of the second detent, wherein a magnitude of the first force and the second force is zero when the user manipulatable object is positioned within the deadband. 4. The method of claim 1 wherein when the user manipulatable object is moved in a particular direction from the first detent to the second detent, the first detent range has an endpoint positioned after a beginning point of the second detent range such that a force at the beginning point of the second detent range has less magnitude than a force at an endpoint of the second detent range. 5. The method of claim 4 wherein when the user manipulatable object is moved in a direction opposite to the particular direction from the second detent to the first detent, a force at a first-encountered point of the first detent range has less magnitude than a force at a last-encountered point of the first detent range. 6. The method of claim 4 wherein the first detent range does not overlap past the origin of the second detent. 7. The method of claim 1 wherein the user manipulatable object is a knob and the degree of freedom is a rotary degree of freedom. 8. A method for providing detent forces for a force feedback control, the method comprising: defining a periodic wave;using at least a portion of the periodic wave to define a detent force curve, the detent force curve defining a force to be output on a user manipulatable object based on a position of the user manipulatable object in a degree of freedom; andusing the detent force curve to command the force on the user manipulatable object, the force output by a electronically-controlled actuator. 9. The method of claim 8 wherein the defining a periodic wave includes specifying a type, a period and a magnitude for the periodic wave. 10. The method of claim 8 wherein the using at least a portion of the periodic wave to define a detent force curve includes specifying a portion of the periodic wave to define a width of the detent force curve. 11. The method of claim 10 wherein the using at least a portion of the periodic wave to define a detent force curve includes specifying a phase and an offset to be applied to the periodic wave to define the detent force curve. 12. The method of claim 8 wherein the using at least a portion of the periodic wave to define a detent force curve includes specifying an increment distance, wherein successive detent force curves in the degree of freedom are spaced apart by the increment distance. 13. The method of claim 8 wherein the user manipulatable object is a knob moveable in a rotary degree of freedom. 14. A method comprising: determining a position of a user manipulatable object movable in a first degree of freedom;determining a first force associated with a first detent having a first origin and a first range, the first force configured to assist movement of the user manipulatable object towards the first origin;determining a second force associated with a second detent having a second origin and a second range overlapping a portion of the first range, the second force configured to assist movement of the user manipulatable object towards the second origin;outputting the first force to the user manipulatable object when the position is within the first range; andoutputting the second force to the user manipulatable object when the position is within the second range. 15. The method of claim 14 wherein when the user manipulatable object is moved in a particular direction from the first detent to the second detent, the first range has an endpoint positioned after a beginning point of the second range such that a force at the beginning point of the second range has less magnitude than a force at an endpoint of the second range. 16. The method of claim 15 wherein when the user manipulatable object is moved in a direction opposite to the particular direction from the second detent to the first detent, a force at a first-encountered point of the first range has less magnitude than a force at a last-encountered point of the first range. 17. A non-transitory computer readable medium comprising program code for outputting haptic feedback, the program code comprising: program code for outputting a first force for a first detent on a user manipulatable object moveable in a degree of freedom, the first force being output when the user manipulatable object is moved within a range of the first detent, the first force output by a electronically-controlled actuator, wherein the first force is configured to assist movement of the user manipulatable object toward an origin position of the first detent and wherein the first force is configured to resist movement of the user manipulatable object away from the origin position of the first detent; andprogram code for outputting a second force for a second detent on the user manipulatable object when the user manipulatable object is moved within a range of the second detent, the second force output by the actuator and the second detent having an origin position different from the origin position of the first detent, wherein the second force is configured to assist movement of the user manipulatable object toward an origin position of the second detent and wherein the second force is configured to resist movement of the user manipulatable object away from the origin position of the second detent, wherein a portion of the range of the first detent overlaps a portion of the range of the second detent. 18. The non-transitory computer readable medium of claim 17 wherein when the user manipulatable object is moved in a particular direction from the first detent to the second detent, the first detent range has an endpoint positioned after a beginning point of the second detent range such that a force at the beginning point of the second detent range has less magnitude than a force at an endpoint of the second detent range. 19. The non-transitory computer readable medium of claim 18 wherein when the user manipulatable object is moved in a direction opposite to the particular direction from the second detent to the first detent, a force at a first-encountered point of the first detent range has less magnitude than a force at a last-encountered point of the first detent range. 20. A non-transitory computer readable medium comprising program code for outputting haptic feedback, the program code comprising: program code for defining a periodic wave;program code for using at least a portion of the periodic wave to define a detent force curve, the detent force curve defining a force to be output on a user manipulatable object based on a position of the user manipulatable object in a degree of freedom; andprogram code for using the detent force curve to command the force on the user manipulatable object, the force output by a electronically-controlled actuator. 21. The non-transitory computer-readable medium of claim 20 wherein the using at least a portion of the periodic wave to define a detent force curve includes specifying a portion of the periodic wave to define a width of the detent force curve. 22. The non-transitory computer-readable medium of claim 21 wherein the using at least a portion of the periodic wave to define a detent force curve includes specifying a phase and an offset to be applied to the periodic wave to define the detent force curve. 23. A non-transitory computer readable medium comprising program code for outputting haptic feedback, the program code comprising: program code for determining a position of a user manipulatable object movable in a first degree of freedom;program code for determining a first force associated with a first detent having a first origin and a first range, the first force configured to assist movement of the user manipulatable object towards the first origin;program code for determining a second force associated with a second detent having a second origin and a second range overlapping a portion of the first range, the second force configured to assist movement of the user manipulatable object towards the second origin;program code for outputting the first force to the user manipulatable object when the position is within the first range; andprogram code for outputting the second force to the user manipulatable object when the position is within the second range. 24. The non-transitory computer readable medium of claim 23 wherein when the user manipulatable object is moved in a particular direction from the first detent to the second detent, the first range has an endpoint positioned after a beginning point of the second range such that a force at the beginning point of the second range has less magnitude than a force at an endpoint of the second range. 25. The non-transitory computer readable medium of claim 24 wherein when the user manipulatable object is moved in a direction opposite to the particular direction from the second detent to the first detent, a force at a first-encountered point of the first range has less magnitude than a force at a last-encountered point of the first range.
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